cmake_minimum_required(VERSION 3.8)
project(aeb)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
# ---------------------------------------------------------<


find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

find_package(tf2_ros REQUIRED)
find_package(PCL REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(std_srvs REQUIRED)
find_package(ubt_interface REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(XMLRPC REQUIRED)


add_executable(aeb_node src/aeb_node.cpp )
target_include_directories(aeb_node PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
    ${PCL_INCLUDE_DIRS}
)
target_link_libraries(aeb_node
  ${PCL_LIBRARIES}
)
ament_target_dependencies(aeb_node
  rclcpp
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  tf2_sensor_msgs
  tf2_ros
  visualization_msgs
  std_srvs
  ubt_interface
  laser_geometry
  XMLRPC
  pcl_conversions
  tf2_geometry_msgs
)

#########################################################
add_executable(obstacle_node src/obstacle_node.cpp )
target_include_directories(obstacle_node PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
    ${PCL_INCLUDE_DIRS}
)
target_link_libraries(obstacle_node
  ${PCL_LIBRARIES}
)
ament_target_dependencies(obstacle_node
  rclcpp
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  tf2_sensor_msgs
  tf2_ros
  visualization_msgs
  std_srvs
  ubt_interface
  laser_geometry
  XMLRPC
  pcl_conversions
  tf2_geometry_msgs
)

install(TARGETS
    aeb_node obstacle_node
    RUNTIME DESTINATION lib/${PROJECT_NAME}
    LIBRARY DESTINATION lib/${PROJECT_NAME}
    ARCHIVE DESTINATION lib/${PROJECT_NAME}
)
# --------------------------------------------------------->


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
